CN113291316A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN113291316A CN113291316A CN202110578717.4A CN202110578717A CN113291316A CN 113291316 A CN113291316 A CN 113291316A CN 202110578717 A CN202110578717 A CN 202110578717A CN 113291316 A CN113291316 A CN 113291316A
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- 238000004590 computer program Methods 0.000 claims description 18
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- 230000006870 function Effects 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
Abstract
The embodiment of the invention provides a vehicle control method and device, wherein the method comprises the following steps: obtaining a first parameter associated with a target actuator in a vehicle; updating the preview duration information according to the first parameter; updating the vehicle planning data of the preview according to the updated preview time length information; and controlling the target actuator according to the updated pre-aiming vehicle planning data. By the embodiment of the invention, the preview duration information is dynamically updated, and the target actuator can be quickly controlled in real time, so that a better real-time control effect is achieved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method and a device for controlling a vehicle.
Background
The actuator is an essential component of an automatic control system, and is used for receiving a control signal sent by a controller and changing the size of a controlled medium so as to maintain a controlled variable at a required value or within a certain range. If the actuator can not work normally, the safety and the reliability of the automatic control system can be directly influenced.
The actuator controlled by the vehicle has delay, and in order to solve the influence caused by the control delay, the prior art generally adopts the preview control to eliminate the influence of the delay, but the preview control method in the prior art has a disadvantage: the preview time is fixed, and the actuator with larger delay time change of the controlled actuator is difficult to be well controlled. Moreover, the delay time of the existing actuator is uncertain, and the good real-time control effect cannot be achieved by adopting the existing pre-aiming control method.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for vehicle control that overcomes or at least partially solves the above problems, comprising:
a method of vehicle control, comprising:
obtaining a first parameter associated with a target actuator in a vehicle;
updating the preview duration information according to the first parameter;
updating the vehicle planning data of the preview according to the updated preview time length information;
and controlling the target actuator according to the updated preview vehicle planning data.
Optionally, obtaining a first parameter associated with a target actuator in the vehicle comprises:
acquiring preview duration information;
determining the planning data of the preview vehicle according to the preview time length information;
first parameters associated with a target actuator in a vehicle are determined based on the pre-targeted vehicle planning data.
Optionally, controlling the target actuator according to the updated pre-view vehicle planning data includes:
determining a second parameter according to the updated preview vehicle planning data;
and controlling the target actuator according to the second parameter.
Optionally, before controlling the target actuator according to the second parameter, the method further includes:
the second parameter is compensated.
Optionally, compensating for the second parameter comprises:
acquiring current vehicle planning data;
determining error information according to the current vehicle planning data and the actual measurement parameters;
the second parameter is compensated according to the error information.
Optionally, the target actuator is an ESP, the vehicle planning data is trajectory data, and the first parameter is jerk information.
Optionally, the second parameter is acceleration information, and the actually measured parameter is speed information and position information.
An apparatus for vehicle control, the apparatus comprising:
a first parameter acquisition module for a first parameter associated with a target actuator in a vehicle;
the preview duration information updating module is used for updating preview duration information according to the first parameter;
the vehicle planning data updating module is used for updating the vehicle planning data of the preview according to the updated preview duration information;
and the target actuator control module is used for controlling the target actuator according to the updated preview vehicle planning data.
Optionally, the first parameter obtaining module includes:
the preview time length information acquisition submodule is used for acquiring preview time length information;
the vehicle planning data determining submodule is used for determining the vehicle planning data of the preview according to the preview time length information;
a first parameter determination submodule for determining a first parameter associated with a target actuator in the vehicle based on the pre-targeted vehicle planning data.
Optionally, the target actuator control module comprises:
the second parameter determining submodule is used for determining a second parameter according to the updated vehicle planning data of the preview;
and the target actuator control submodule is used for controlling the target actuator according to the second parameter.
Optionally, the target actuator control module further comprises:
and the second parameter compensation submodule is used for compensating the second parameter.
Optionally, the second parameter compensation sub-module comprises:
a current vehicle planning data acquisition unit for acquiring current vehicle planning data;
the error information determining unit is used for determining error information according to the current vehicle planning data and the actual measurement parameters;
and the second parameter compensation unit is used for compensating the second parameter according to the error information.
Optionally, the target actuator is an ESP, the vehicle planning data is trajectory data, and the first parameter is jerk information.
Optionally, the second parameter is acceleration information, and the actually measured parameter is speed information and position information.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of vehicle control as described above.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of vehicle control as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the target actuator is controlled according to the updated preview time length information by acquiring the first parameter associated with the target actuator in the vehicle, updating the preview time length information according to the updated preview time length information and updating the preview vehicle planning data according to the updated preview vehicle planning data, so that the preview time length information is dynamically updated, the target actuator can be controlled quickly and in real time, and a better real-time control effect is achieved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps in another method for vehicle control according to an embodiment of the present invention;
fig. 3 is a block diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention may specifically include the following steps:
the target actuator may be a mechanism with a large range and a fixed delay time, for example, a braking system of a wheel of the vehicle, and may receive a signal for controlling braking of the vehicle to control the driving state of the vehicle.
For example, the target actuator may be a brake module in an ESP (Electronic stability program) of a vehicle, which is a chassis brake technology developed on the basis of an antilock control system, and mainly includes a control unit, a steering sensor, a wheel speed sensor, a side slip sensor, a lateral acceleration sensor, and the like.
The target actuator may also be another actuator with an indeterminate delay time, such as an actuator of a motor controller. The invention is not limited to target actuators herein.
The first parameter is a running parameter during running of the vehicle, and is related to acceleration of the vehicle during turning running. For example, it may be jerk, which describes a physical quantity of how fast the acceleration changes.
In a concrete implementation, when the vehicle runs in a turn, centrifugal force is generated, acceleration is obtained in a direction perpendicular to the running direction of the automobile, a transverse acceleration sensor of the vehicle collects the acceleration and sends the acceleration to a relevant actuator of the vehicle, and the running state of the vehicle can be adjusted according to the acceleration. A first parameter associated with a target actuator in the vehicle may be obtained from the acceleration.
For better control, the first parameter may be speed, acceleration, force, control error or control error rate, and the first parameter may be determined by characteristics of different target actuators, so the invention is not limited to the first parameter.
102, updating preview duration information according to the first parameter;
the preview time duration information may be information measured by a time duration, and may be time for detecting a path ahead of the vehicle in advance.
In practical application, the preview duration information is related to the delay of the target actuator, and based on the acquired first parameter associated with the target actuator in the vehicle, in order to solve the delay of the target actuator, the preview duration information corresponding to the first parameter may be acquired according to the first parameter associated with the target actuator in the vehicle, and is used as new preview duration information for subsequent calculation.
In an example, different target actuators have different delays, a calibration table of a first parameter and preview duration information may be preset according to characteristics of the target actuators, the first parameter and the preview duration information have a certain quantitative relationship, and after the first parameter information is obtained, preview duration information corresponding to the first parameter may be obtained by querying the calibration table of the preset first parameter and preview duration information.
the vehicle planning data is composed of position points where the vehicle may travel, may be a series of coordinates, and may specifically be displayed by a display device, for example, trajectory data planned for the vehicle.
In an embodiment of the invention, the vehicle can obtain and display vehicle planning data through the central control screen, and the vehicle planning data displayed by the central control screen is changed in real time after the preview time length information is updated.
In a specific implementation, the vehicle may plan a reference track in advance, and after the preview duration information is updated, advance or delay the acquisition time of the reference track according to the preview duration information, for example, the reference track planned in advance is a track advanced by 0.6s, and if the preview duration information is updated to 0.7s, the reference track is acquired by 0.7s in advance.
And 104, controlling a target actuator according to the updated preview vehicle planning data.
After the updated preview vehicle planning data is obtained, the target actuator can be controlled to run according to the trajectory data included in the vehicle planning data, so that the vehicle is prevented from being out of control due to actuator delay during turning running, and a better control effect is obtained.
In the embodiment of the invention, the target actuator is controlled by acquiring a first parameter associated with the target actuator in the vehicle, updating the preview time length information according to the first parameter, updating the preview vehicle planning data according to the updated preview time length information and according to the updated preview vehicle planning data. The method and the device realize dynamic updating of the preview duration information, can quickly control the target actuator in real time, and further achieve better real-time control effect.
Referring to fig. 2, a flowchart illustrating steps of another method for controlling a vehicle according to an embodiment of the present invention is provided, which may specifically include the following steps:
the preview duration information may be information measured by a time length, and may be time for detecting a path ahead of the vehicle in advance.
In an embodiment of the present invention, before acquiring the preview duration information, the execution delay time of the target actuator may be acquired, and whether the target actuator has an uncertain execution delay time is determined, and if the target actuator has an uncertain execution delay time, the preview duration information is determined according to a delay range of the target actuator; and if the execution delay time of the target actuator is determined, determining the execution delay time of the target actuator as the preview duration information.
In practical application, different target actuators have different execution delay times, so that the preview duration information is different, and the control effect is deteriorated if the preview duration information is too large; the preview time duration information is too small to eliminate the effect of actuator delay.
Based on this, the preview time period information may be determined according to the delay range of the target actuator before the vehicle is driven, for example, the middle value of the delay range of the target actuator is taken according to the initial acceleration, that is, if the delay range of the target actuator is a delay float of 0.3s to 1s, the middle value of the preview time period information is taken to be 0.6s, so that the control effect is deteriorated due to the initial preview time period information.
the vehicle planning data is composed of position points where the vehicle may travel, may be a series of coordinates, and may specifically be displayed by a display device, for example, trajectory data planned for the vehicle. In a specific implementation, the vehicle may plan a reference track in advance, and if the preview duration information is 0.6s, the track 0.6s before the reference track is used as vehicle planning data.
the target actuator is a mechanism for controlling the running state of the vehicle, and may be a mechanism having a large range in which the delay time is not fixed, for example, a braking system of a wheel of the vehicle, and may receive a signal for controlling braking of the vehicle to control the running state of the vehicle.
For example, the target actuator may be a brake module in an ESP (Electronic stability program) of a vehicle, which is a chassis brake technology developed on the basis of an antilock control system, and mainly includes a control unit, a steering sensor, a wheel speed sensor, a side slip sensor, a lateral acceleration sensor, and the like.
The target actuator may also be another actuator with an indeterminate delay time, such as an actuator of a motor controller. The invention is not limited to target actuators herein.
The first parameter is a running parameter during running of the vehicle, and is related to acceleration of the vehicle during turning running. For example, it may be jerk, which describes a physical quantity of how fast the acceleration changes.
In a concrete implementation, when the vehicle runs in a turn, centrifugal force is generated, acceleration is obtained in a direction perpendicular to the running direction of the automobile, a transverse acceleration sensor of the vehicle collects the acceleration and sends the acceleration to a relevant actuator of the vehicle, and the running state of the vehicle can be adjusted according to the acceleration. A first parameter associated with a target actuator in the vehicle may be obtained from the acceleration.
For better control, the first parameter may be speed, acceleration, force, control error or control error rate, and the first parameter may be determined by characteristics of different target actuators, so the invention is not limited to the first parameter.
the preview time duration information may be information measured by a time duration, and may be time for detecting a path ahead of the vehicle in advance.
In practical application, the preview duration information is related to the delay of the target actuator, and based on the acquired first parameter associated with the target actuator in the vehicle, in order to solve the delay of the target actuator, the preview duration information corresponding to the first parameter may be acquired according to the first parameter associated with the target actuator in the vehicle, and is used as new preview duration information for subsequent calculation.
In one example, different actuators have different delays, and a calibration table of the first parameter and the preview time length information may be obtained through a large amount of experimental data according to the target actuator characteristic. Based on this, after the first parameter information is obtained, the preview duration information corresponding to the first parameter can be obtained by inquiring the calibration table of the preset first parameter and the preview duration information.
the vehicle planning data is composed of position points where the vehicle is likely to travel, and can be displayed through an on-vehicle display device, for example, a travel track planned for the vehicle.
In one example, the vehicle can obtain and display vehicle planning data through the central control screen, and the vehicle planning data displayed by the central control screen is changed in real time after the preview time length information is updated.
In a specific implementation, the vehicle may plan a reference track in advance, and after the preview duration information is updated, advance or delay the acquisition time of the reference track according to the preview duration information, for example, the reference track planned in advance is a track advanced by 0.6s, and if the preview duration information is updated to 0.7s, the reference track is acquired by 0.7s in advance.
the second parameter is a driving parameter of the vehicle during driving on the curve. Wherein the second parameter may be acceleration information.
In practical application, the vehicle can generate acceleration in a direction perpendicular to the driving direction of the vehicle during the driving process of the curve, and based on the acceleration, the acceleration generated in the direction perpendicular to the driving direction of the vehicle during the driving process of the curve can be calculated according to the updated pre-aiming vehicle planning data.
after obtaining the second parameter determined according to the updated preview vehicle planning data, the second parameter may be compensated according to an error value for better controlling the target actuator, specifically, in an embodiment of the present invention, step 207 includes:
substep 21, obtaining current vehicle planning data;
the vehicle planning data is composed of position points where the vehicle is likely to travel, and can be displayed through an on-vehicle display device, for example, a travel track planned for the vehicle. Wherein the vehicle planning data further comprises the time and speed of travel to the respective location point.
Substep 22, determining error information according to the current vehicle planning data and the actual measurement parameters;
the actual measurement parameters include actual measured speed information and position information.
The error information is an error between the actually measured parameter and the vehicle planning data in the time period from the start of the movement to the actual position, and may include a position error between a position point in the vehicle planning data and the actually measured position information, and a speed error between a speed when the vehicle planning data travels to the corresponding position and the actually measured speed information.
For example, when the vehicle moves from the beginning to time t, the speed of travel to position a in the vehicle plan data is V1, and the speed of actual measurement travel to position B is V2, then the position error is the difference between position a and position B, and the speed error is the difference between V1 and V2.
In an embodiment of the present invention, the error information may further include an acceleration error since the acceleration is related to the amount of speed change and the time taken for the speed change to occur. Specifically, after obtaining a speed error between the speed at which the vehicle is driven to the corresponding position in the vehicle planning data and the actually measured speed information, an acceleration error between the vehicle planning data and the actually measured parameter may be calculated.
For example, when the vehicle starts moving to time t, if the vehicle starts moving to V, the speed of the vehicle to the position A in the vehicle plan data is V1, and the speed of the vehicle to the position B in the vehicle plan data is actually measured to be V2, the acceleration in the vehicle plan data is (V1-V)/t, the acceleration in the actually measured parameter is (V2-V)/t, and the acceleration error between the actually measured parameter and the vehicle plan data is (V2-V1)/t.
And a substep 23 of compensating the second parameter according to the error information.
Since there is an error between the vehicle planning data and the actual measured parameter, in order to reduce the effect of the error on the target actuator, the second parameter may be compensated based on the error information after the error information is obtained.
For example, when the second parameter is acceleration, after obtaining an acceleration error between the vehicle planning data and the actually measured parameter, the second parameter may be compensated for based on the acceleration error.
And 208, controlling the target actuator according to the second parameter.
After the second parameter is obtained, the second parameter can be sent to the target actuator, and the target actuator can form a controlled requested acceleration according to the second parameter and input the controlled requested acceleration into the target actuator for control, so that the condition that the vehicle is out of control during turning due to delay of the target actuator is avoided, and a better control effect is obtained.
In the embodiment of the invention, the preview duration information is acquired, preview vehicle planning data is determined according to the preview duration information, a first parameter associated with a target actuator in a vehicle is determined according to the preview vehicle planning data, the preview duration information is updated according to the first parameter, the preview vehicle planning data is updated according to the updated preview duration information, a second parameter is determined according to the updated preview vehicle planning data, the second parameter is compensated, the target actuator is controlled according to the second parameter, the compensation of the second parameter is realized, the control effect on the target actuator can be optimized in real time, and therefore, a good real-time control effect is achieved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 3, a schematic structural diagram of a vehicle control device according to an embodiment of the present invention is shown, which may specifically include the following modules:
a first parameter obtaining module 301, configured to obtain a first parameter associated with a target actuator in a vehicle;
in an embodiment of the present invention, the first parameter obtaining module includes the following sub-modules:
the preview time length information acquisition submodule is used for acquiring preview time length information;
the vehicle planning data determining submodule is used for determining the vehicle planning data of the preview according to the preview time length information;
a first parameter determination submodule for determining a first parameter associated with a target actuator in the vehicle based on the pre-targeted vehicle planning data.
In one embodiment of the invention, the target actuator is an ESP, the vehicle planning data is trajectory data, and the first parameter is jerk information.
A preview duration information updating module 302, configured to update preview duration information according to the first parameter;
the vehicle planning data updating module 303 is configured to update the preview vehicle planning data according to the updated preview time length information;
and a target actuator control module 304, configured to control the target actuator according to the updated preview vehicle planning data.
In one embodiment of the invention, the target actuator control module includes the following sub-modules:
the second parameter determining submodule is used for determining a second parameter according to the updated vehicle planning data of the preview;
and the target actuator control submodule is used for controlling the target actuator according to the second parameter.
In an embodiment of the present invention, the target actuator control module further includes:
and the second parameter compensation submodule is used for compensating the second parameter.
In an embodiment of the present invention, the second parameter compensation sub-module includes:
a current vehicle planning data acquisition unit for acquiring current vehicle planning data;
the error information determining unit is used for determining error information according to the current vehicle planning data and the actual measurement parameters;
and the second parameter compensation unit is used for compensating the second parameter according to the error information.
In an embodiment of the present invention, the second parameter is acceleration information, and the actually measured parameter is velocity information and position information.
In the embodiment of the invention, the target actuator is controlled by acquiring a first parameter associated with the target actuator in the vehicle, updating the preview time length information according to the first parameter, updating the preview vehicle planning data according to the updated preview time length information and according to the updated preview vehicle planning data. The method and the device realize dynamic updating of the preview duration information, can quickly control the target actuator in real time, and further achieve better real-time control effect.
An embodiment of the present invention also provides an electronic device, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method of vehicle control as above.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the above method of vehicle control.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and the device for controlling the vehicle are described in detail, and the principle and the embodiment of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of vehicle control, the method comprising:
obtaining a first parameter associated with a target actuator in a vehicle;
updating the preview duration information according to the first parameter;
updating the vehicle planning data of the preview according to the updated preview time length information;
and controlling the target actuator according to the updated pre-aiming vehicle planning data.
2. The method of claim 1, wherein obtaining a first parameter associated with a target actuator in a vehicle comprises:
acquiring preview duration information;
determining the planning data of the preview vehicle according to the preview time length information;
determining a first parameter associated with a target actuator in a vehicle based on the pre-targeted vehicle planning data.
3. The method of claim 1 or 2, wherein the controlling the target actuators according to the updated pre-targeted vehicle planning data comprises:
determining a second parameter according to the updated preview vehicle planning data;
and controlling the target actuator according to the second parameter.
4. The method of claim 3, further comprising, prior to said controlling said target actuator in accordance with said second parameter:
compensating the second parameter.
5. The method of claim 4, wherein the compensating the second parameter comprises:
acquiring current vehicle planning data;
determining error information according to the current vehicle planning data and the actual measurement parameters;
and compensating the second parameter according to the error information.
6. The method of claim 1, wherein the target actuator is an ESP, the vehicle planning data is trajectory data, and the first parameter is jerk information.
7. The method of claim 5, wherein the second parameter is acceleration information and the actual measured parameter is velocity information and position information.
8. An apparatus for vehicle control, characterized in that the apparatus comprises:
a first parameter acquisition module for acquiring a first parameter associated with a target actuator in a vehicle;
the preview duration information updating module is used for updating preview duration information according to the first parameter;
the vehicle planning data updating module is used for updating the vehicle planning data of the preview according to the updated preview duration information;
and the target actuator control module is used for controlling the target actuator according to the updated preview vehicle planning data.
9. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of vehicle control as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of vehicle control according to any one of claims 1 to 7.
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